Quadrocopters formation control over the limited-band communication network

Boris Andrievsky, Stanislav Tomashevich, Alexander L. Fradkov, Konstantin Amelin

Research output

2 Citations (Scopus)

Abstract

In the paper, stability and tracking accuracy of the group of quadrocopters, flying in the formation are studied taking into account jointly dynamics of the single agent in the formation, structure of information flow graph and the data rate limitations between the agents in formation. Stability of the formation in the absence of data quantization is studied both for continuous-time and discrete-time system cases. The results of the numerical study of the formation performance for the case of binary adaptive quantization of data transmission between the agents are presented. The results obtained confirm the theoretical statements, following from the data rate theorem and give the quantitative information about the system performance in the case of data rate limitations and the adaptive binary coding/decoding procedure.

Original languageEnglish
Pages (from-to)85-90
Number of pages6
JournalIFAC-PapersOnLine
Volume28
Issue number9
DOIs
Publication statusPublished - 1 Jul 2015
Event1st IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles, ACNAAV 2015 - Seville
Duration: 10 Jun 201512 Jun 2015

Fingerprint

Telecommunication networks
Flow graphs
Data communication systems
Decoding

Scopus subject areas

  • Control and Systems Engineering

Cite this

Andrievsky, Boris ; Tomashevich, Stanislav ; Fradkov, Alexander L. ; Amelin, Konstantin. / Quadrocopters formation control over the limited-band communication network. In: IFAC-PapersOnLine. 2015 ; Vol. 28, No. 9. pp. 85-90.
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Quadrocopters formation control over the limited-band communication network. / Andrievsky, Boris; Tomashevich, Stanislav; Fradkov, Alexander L.; Amelin, Konstantin.

In: IFAC-PapersOnLine, Vol. 28, No. 9, 01.07.2015, p. 85-90.

Research output

TY - JOUR

T1 - Quadrocopters formation control over the limited-band communication network

AU - Andrievsky, Boris

AU - Tomashevich, Stanislav

AU - Fradkov, Alexander L.

AU - Amelin, Konstantin

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N2 - In the paper, stability and tracking accuracy of the group of quadrocopters, flying in the formation are studied taking into account jointly dynamics of the single agent in the formation, structure of information flow graph and the data rate limitations between the agents in formation. Stability of the formation in the absence of data quantization is studied both for continuous-time and discrete-time system cases. The results of the numerical study of the formation performance for the case of binary adaptive quantization of data transmission between the agents are presented. The results obtained confirm the theoretical statements, following from the data rate theorem and give the quantitative information about the system performance in the case of data rate limitations and the adaptive binary coding/decoding procedure.

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